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Method for automatically testing non-complete freedom inertial platform key parameter multiposition weighting

A technology of inertial platform and key parameters, applied in measurement devices, instruments, etc., can solve problems such as the inability to provide real-time detection data, the complex and inconvenient installation of the inertial platform system with incomplete degrees of freedom, etc.

Inactive Publication Date: 2013-02-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The disadvantage of this method is that in practical applications, considering factors such as the structure of the carrier and the installation space, the installation of the non-full degree of freedom inertial platform system is often very complicated, so in order to ensure the reliable and stable operation of the system, it is necessary to Periodically remove the non-full degree of freedom inertial platform system from the carrier
Therefore, this method is very inconvenient
Moreover, this method cannot provide real-time detection data

Method used

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  • Method for automatically testing non-complete freedom inertial platform key parameter multiposition weighting
  • Method for automatically testing non-complete freedom inertial platform key parameter multiposition weighting
  • Method for automatically testing non-complete freedom inertial platform key parameter multiposition weighting

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Embodiment Construction

[0071] In this embodiment, the self-detection of key parameters is performed in combination with the actual inertial platform system. In the platform system, the random drift of the three accelerometers is 1×10 -6 m / s 2 , The random drift of the three gyroscopes are all 0.0001° / h. During the implementation process, the angle of rotation of the platform around the X axis: α x1 , Α x2 , Α x3 Take 20°, 40°, 60° without loss of generality. Similarly, β y1 , Β y2 , Β y3 Without loss of generality, take 20°, 40°, 60°, λ z1 , Γ z2 , Γ z3 Take 45°, 90°, 135° without loss of generality. The process is as follows:

[0072] Step 1. Under the northeast sky geographic coordinate system, set the X-axis and Z-axis accelerometers to zero and the Z gyro output as the initial position. At this time, the platform coordinate system is set as the geographic coordinate system around the north axis and azimuth axis in turn , East axis rotation α 0 , Β 0 And γ 0 get. The initial transition matrix fro...

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Abstract

The invention relates to a method for the online self test of a non-complete freedom inertial platform, which is suitable for the self test of various non-complete and complete freedom inertial platforms, and belongs to the technical field of parameter online self test. Under the premise of not utilizing additional equipment and dismantling a platform system, the outputs of an accelerometer and a gyroscope when the platform is in different attitudes are utilized, the output models of the accelerometer and the gyroscope are combined, a least square method is utilized to automatically test the key parameters of the platform in real time, and the computation speed is very fast. Consequently, for systems with high real-time requirements, platform key parameters can be automatically tested quickly through adopting the method. Compared with the conventional method, the method not only eliminates the inconvenience for dismantling an inertial platform system, but also can provide real-time system test data, and provides the beneficial guarantee for the stably operation of the inertial platform system.

Description

Technical field [0001] The invention relates to a method for realizing the online self-detection of an inertial platform with an incomplete degree of freedom, which is suitable for the self-detection of various inertial platform systems with incomplete and complete degrees of freedom, and belongs to the technical field of parameter online autonomous detection. Background technique [0002] The inertial platform system with incomplete degrees of freedom is a complex high-precision electromechanical integrated system, which is widely used in land, sea, and space due to the advantages of complete autonomy. In order to ensure the normal and stable operation of the inertial platform system with incomplete degrees of freedom, it is often necessary to periodically detect and properly compensate the various key parameters of the platform system's gyroscope such as zero drift, accelerometer zero offset and scale factor. [0003] The existing detection method is to remove the inertial platfo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 付梦印王博汪顺亭邓志红丰璐
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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